| 冗余度机械臂关节运动和末端运动的同步容错规划 |
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| 引用本文： | 赵京,缪萍,荆红梅.冗余度机械臂关节运动和末端运动的同步容错规划[J].机械工程学报,2003,39(3):53-57. |
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| 作者姓名： | 赵京 缪萍 荆红梅 |
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| 作者单位： | 北京工业大学机械工程及应用电子技术学院,北京,100022 |
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| 基金项目： | 教育部(M01020001)和北京市教育委员会(00KJ—023)资助项目。 |
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| 摘 要： | 给出了可操作度这一运动灵活性指标新的物理解释,在此基础上进一步分析了退化可操作度这一容错性能指标的物理含义,由此得到了反映容错空间和实际操作度大小的臂长和转角这两种新的容错性能指标;利用它们对平面3R机械臂进行了关节运动和末端运动同步容错规划的仿真研究。研究结果表明,转角指标的最大化有利于避免发生故障时刻的退化机械臂出现奇异位形;而臂长指标有利于避免该退化机械臂在故障发生后的运动中出现奇异位形。
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| 关 键 词： | 冗余度 机械臂 同步容错规划 |
| 修稿时间： | 2001年11月23 |
SYNCHRONOUS FAULT TOLERANT PLANNING OF JOINT MOTION AND END-EFFECTOR MOTION FOR REDUNDANT MANIPULATORS |
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| Zhao Jing Miao Ping Jing Hongmei.SYNCHRONOUS FAULT TOLERANT PLANNING OF JOINT MOTION AND END-EFFECTOR MOTION FOR REDUNDANT MANIPULATORS[J].Chinese Journal of Mechanical Engineering,2003,39(3):53-57. |
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| Authors: | Zhao Jing Miao Ping Jing Hongmei |
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| Affiliation: | Beijing Polytechnic University |
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| Abstract: | A new physical meaning of manipulability is given. Reduced manipulability is analyzed, and arm length index and rotation angle index which express fault tolerant workspace and actual manipulability respectively are proposed. Synchronous fault tolerant planning of joint motion and end-effector motion is researched through simulation examples for a planar 3R manipulator. Research results show that the maximization of rotation angle index can avoid the singular configuration of the reduced manipulator at failure moment, while the maximization of arm length index can avoid the singular configuration of the reduced manipulator after the failure. |
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| Keywords: | Redundancy ManipulatorSynchronous fault tolerant planning |
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